checkpoint in work on goalie

noggin/navigator/NavConstants.py

@@ -84,6 +84,6 @@
 FINAL_HEADING_DIST = 100
 FINAL_HEADING_READY_DIST = 60
 HEADING_THRESHOLD_TO_SPIN = 60
-FRAMES_THRESHHOLD_TO_SPIN = 30
+FRAMES_THRESHOLD_TO_SPIN = 30
 FRAMES_THRESHOLD_TO_POSITION_OMNI = 30
 FRAMES_THRESHOLD_TO_POSITION_PLAYBOOK = 30

noggin/navigator/PlaybookPositionStates.py

@@ -31,7 +31,7 @@ def playbookWalk(nav):
     bearingDiff = fabs(my.getRelativeBearing(dest))
     if bearingDiff > constants.HEADING_THRESHOLD_TO_SPIN:
         nav.spinToPointCount += 1
-        if nav.spinToPointCount > constants.FRAMES_THRESHHOLD_TO_SPIN:
+        if nav.spinToPointCount > constants.FRAMES_THRESHOLD_TO_SPIN:
             return nav.goLater('playbookSpin')
     else:
         nav.spinToPointCount = 0
@@ -56,15 +56,16 @@ def playbookOmni(nav):
         if helper.atDestinationCloser(my, dest) and helper.atHeading(my, dest.h):
             return nav.goNow('stop')
 
-    headingDiff = fabs(my.getRelativeBearing(dest))
-    ## if headingDiff > constants.HEADING_THRESHOLD_TO_SPIN:
-    ##     nav.spinToPointCount += 1
-    ##     if nav.spinToPointCount > constants.FRAMES_THRESHHOLD_TO_SPIN:
-    ##         return nav.goLater('playbookSpin')
-    ## else:
-    ##     nav.spinToPointCount = 0
-
-    if not helper.useFinalHeading(nav.brain, dest):
+    if helper.useFinalHeading(nav.brain, dest):
+        headingDiff = fabs(my.getRelativeBearing(dest))
+        if headingDiff > constants.HEADING_THRESHOLD_TO_SPIN:
+            nav.spinToPointCount += 1
+            if nav.spinToPointCount > constants.FRAMES_THRESHOLD_TO_SPIN:
+                return nav.goLater('playbookFinalSpin')
+            else:
+                nav.spinToPointCount = 0
+
+    else:
         nav.stopOmniCount += 1
         if nav.stopOmniCount > constants.FRAMES_THRESHOLD_TO_POSITION_PLAYBOOK:
             return nav.goLater('playbookWalk')
@@ -75,6 +76,7 @@ def playbookSpin(nav):
     if nav.firstFrame():
         nav.walkOmniCount = 0
         nav.spinToPointCount = 0
+        nav.walkToPointCount = 0
 
     my = nav.brain.my
     dest = nav.dest
@@ -93,10 +95,39 @@ def playbookSpin(nav):
 
     headingDiff = fabs(my.getRelativeBearing(dest))
     if headingDiff < constants.HEADING_THRESHOLD_TO_SPIN:
-        nav.spinToPointCount += 1
-        if nav.spinToPointCount > constants.FRAMES_THRESHHOLD_TO_SPIN:
+        nav.walkToPointCount += 1
+        if nav.walkToPointCount > constants.FRAMES_THRESHOLD_TO_SPIN:
             return nav.goLater('playbookWalk')
     else:
-        nav.spinToPointCount = 0
+        nav.walkToPointCount = 0
+
+    return nav.stay()
+
+def playbookFinalSpin(nav):
+    if nav.firstFrame():
+        nav.walkOmniCount = 0
+        nav.walkToPointCount = 0
+
+    my = nav.brain.my
+    dest = nav.dest
+
+    walkX, walkY, walkTheta = helper.getSpinOnlyParam(my, dest)
+    helper.setSpeed(nav, walkX, walkY, walkTheta)
+
+    if not helper.atDestinationGoalie(my, dest):
+        if helper.useFinalHeading(nav.brain, dest):
+            nav.walkOmniCount += 1
+            if nav.walkOmniCount > constants.FRAMES_THRESHOLD_TO_POSITION_OMNI:
+                return nav.goLater('playbookOmni')
+        else:
+            nav.walkOmniCount = 0
+            nav.walkToPointCount += 1
+            if nav.walkToPointCount > constants.FRAMES_THRESHOLD_TO_SPIN:
+                return nav.goLater('playbookWalk')
+            else:
+                nav.walkToPointCount = 0
+    else:
+        if helper.atHeading(my, dest.h):
+            return nav.goNow('stop')
 
     return nav.stay()

noggin/players/ChaseBallStates.py

@@ -11,7 +11,6 @@
 from .. import NogginConstants
 from ..playbook.PBConstants import GOALIE
 from math import fabs
-import man.motion.RobotGaits as RobotGaits
 
 def chase(player):
     """
@@ -313,9 +312,9 @@ def positionForKick(player):
     sY = max(constants.PFK_MIN_Y_MAGNITUDE,sY) * MyMath.sign(sY)
 
     if transitions.shouldApproachForKick(player):
-        targetX = (ball.relX -
-                   (constants.BALL_KICK_LEFT_X_CLOSE +
-                    constants.BALL_KICK_LEFT_X_FAR) / 2.0)
+        #        targetX = (ball.relX -
+        #                   (constants.BALL_KICK_LEFT_X_CLOSE +
+        #                    constants.BALL_KICK_LEFT_X_FAR) / 2.0)
         sX = MyMath.clip(ball.relX * constants.PFK_X_GAIN,
                          constants.PFK_MIN_X_SPEED,
                          constants.PFK_MAX_X_SPEED)
@@ -493,12 +492,11 @@ def ballInMyBox(player):
     if not player.ballInMyGoalBox():
         return player.goLater('chase')
     return player.stay()
-
+# TODO
 def approachDangerousBall(player):
     if player.firstFrame():
         player.stopWalking()
     #print "approach dangerous ball"
-    my = player.brain.my
     #single steps towards ball and goal with spin
     player.setSteps(0, 0, 0, 0)
 

noggin/players/ChaseBallTransitions.py

@@ -73,7 +73,7 @@ def shouldRepositionForKick(player):
     """
     Stop waiting for kick and realign on the ball instead
     """
-    ball = player.brain.ball
+
     return False
 
 def shouldApproachForKick(player):

noggin/players/GoaliePositionStates.py

@@ -27,20 +27,19 @@ def goalieAwesomePosition(player):
     else:
         player.brain.tracker.trackBall()
 
-    useOmni = helper.useOmni(player)
-    changedOmni = False
 
+    heading = None
     ball = brain.ball
-    bearing = None
 
     if ball.on:
-        bearing = ball.bearing
+        heading = brain.my.h + ball.bearing
     elif ball.framesOff < 3:
-        bearing = ball.locBearing
+        heading = brain.my.h + ball.locBearing
     else:
-        bearing = NogginConstants.OPP_GOAL_HEADING
+        heading = NogginConstants.OPP_GOAL_HEADING
 
-    position = RobotLocation(brain.play.getPosition(), my.h + bearing)
+    position = player.brain.play.getPosition()
+    position = RobotLocation(position[0], position[1], heading)
     nav.positionPlaybook(position)
 
     if nav.isStopped():
@@ -65,11 +64,6 @@ def goaliePositionForSave(player):
 
 def goaliePositionBallClose(player):
 
-    nav = player.brain.nav
-    player.brain.tracker.trackBall()
-
-    #if not nav.atHeading(NogginConstants.OPP_GOAL_HEADING):
-    #    return player.goLater('goalieSpinToPosition')
     if helper.useLeftStrafeCloseSpeed(player):
         helper.strafeLeftSpeed(player)
     elif helper.useRightStrafeCloseSpeed(player):
@@ -85,7 +79,6 @@ def goaliePositionBallClose(player):
 
 def goaliePositionBallFar(player):
 
-    nav = player.brain.nav
     player.brain.tracker.activeLoc()
 
     if helper.outOfPosition(player):
@@ -105,7 +98,7 @@ def goaliePositionBallFar(player):
     return player.stay()
 
 def goalieSpinToPosition(player):
-    nav = player.brain.nav
+
     if helper.useFarPosition(player):
         player.brain.tracker.activeLoc()
     else:
@@ -145,16 +138,28 @@ def goalieOutOfPosition(player):
 def goalieAtPosition(player):
     brain = player.brain
     nav = player.brain.nav
+
     if brain.ball.dist >= constants.ACTIVE_LOC_THRESH:
         player.brain.tracker.activeLoc()
     else:
         player.brain.tracker.trackBall()
 
     # Check that the position is correct
-    position = RobotLocation(player.brain.play.getPosition())
+    ball = brain.ball
+    heading = None
+
+    if ball.on:
+        heading = brain.my.h + ball.bearing
+    elif ball.framesOff < 3:
+        heading = brain.my.h + ball.locBearing
+    else:
+        heading = NogginConstants.OPP_GOAL_HEADING
+
+    position = player.brain.play.getPosition()
+    position = RobotLocation(position[0], position[1], heading)
 
     if (abs(nav.dest.x - position.x) > constants.SHOULD_POSITION_DIFF or
-        abs(nav.dest.y - position,y) >  constants.SHOULD_POSITION_DIFF or
+        abs(nav.dest.y - position.y) >  constants.SHOULD_POSITION_DIFF or
         not player.atDestinationGoalie() or
         not player.atHeading()):
         return player.goNow("goalieAwesomePosition")

noggin/players/GoalieTransitions.py

@@ -18,31 +18,32 @@ def goalieRunChecks(player):
             player.shouldChaseCounter = 0
             return 'goalieSave'
 
-    ## elif not player.isChasing:
-    ##     if shouldChaseLoc(player):
-    ##         player.shouldChaseCounter+=1
-    ##         if DEBUG: print "should chase: ", player.shouldChaseCounter
-    ##         if player.shouldChaseCounter >= goalCon.START_CHASE_BUFFER:
-    ##             player.shouldChaseCounter = 0
-    ##             return 'chase'
-    ##     else:
-    ##         player.shouldChaseCounter = 0
+    elif not player.isChasing:
+       if shouldChaseLoc(player):
+           player.shouldChaseCounter+=1
+           if DEBUG: print "should chase: ", player.shouldChaseCounter
+           if player.shouldChaseCounter >= goalCon.START_CHASE_BUFFER:
+               player.shouldChaseCounter = 0
+               return 'chase'
+       else:
+           player.shouldChaseCounter = 0
+
+    elif player.isChasing and\
+            not chaseTran.shouldntStopChasing(player):
+        if shouldStopChaseLoc(player) :
+            player.shouldChaseCounter+=1
+            if DEBUG: print "should stop chase: ", player.shouldChaseCounter
+            if player.shouldChaseCounter >= goalCon.STOP_CHASE_BUFFER:
+                player.shouldChaseCounter = 0
+                player.isChasing = False
+                return 'goaliePosition'
+        else:
+            player.shouldChaseCounter = 0
+
     elif player.currentState == 'gamePlaying':
         player.isChasing = False
         return 'goalieAtPosition'
 
-    ## elif player.isChasing and\
-    ##             not chaseTran.shouldntStopChasing(player):
-    ##     if shouldStopChaseLoc(player) :
-    ##         player.shouldChaseCounter+=1
-    ##         if DEBUG: print "should stop chase: ", player.shouldChaseCounter
-    ##         if player.shouldChaseCounter >= goalCon.STOP_CHASE_BUFFER:
-    ##             player.shouldChaseCounter = 0
-    ##             player.isChasing = False
-    ##             return 'goaliePosition'
-    ##     else:
-    ##         player.shouldChaseCounter = 0
-
     return player.currentState
 
 def useClosePosition(player):
@@ -219,26 +220,18 @@ def shouldHoldSave(player):
     return False
 
 def shouldChaseLoc(player):
-    if player.penaltyKicking:
+    if player.penaltyKicking or player.saving:
         return False
 
     ball = player.brain.ball
-    my = player.brain.my
-    if (player.squatting and ball.locDist <= goalCon.CHASE_FROM_SQUAT_DIST and
-        abs(ball.locBearing) <= goalCon.CHASE_FROM_SQUAT_BEARING and
-        abs(ball.velX) <= goalCon.CHASE_FROM_SQUAT_VEL and
-        abs(ball.velY) <= goalCon.CHASE_FROM_SQUAT_VEL):
+    if (ball.y > Constants.MY_GOALBOX_BOTTOM_Y
+        and ball.y < Constants.MY_GOALBOX_TOP_Y
+        and ball.x < Constants.MY_GOALBOX_RIGHT_X +
+        goalCon.AGGRESSIVENESS_OFFSET):
         return True
-    if not player.squatting:
-        if (ball.y > Constants.MY_GOALBOX_BOTTOM_Y + goalCon.GOALBOX_Y_REDUCTION
-            and ball.y < Constants.MY_GOALBOX_TOP_Y -goalCon.GOALBOX_Y_REDUCTION
-            and ball.x < Constants.MY_GOALBOX_RIGHT_X +
-            goalCon.AGGRESSIVENESS_OFFSET):
-            return True
     return False
 
 def shouldStopChaseLoc(player):
-    my = player.brain.my
     ball = player.brain.ball
     #change to use ball uncertainty
     if ball.uncertX < Constants.GOOD_LOC_XY_UNCERT_THRESH:

noggin/players/KickingStates.py

@@ -51,12 +51,6 @@ def decideKick(player):
         player.inKickingState = False
         return player.goLater('scanFindBall')
 
-    # Get references to the collected data
-    myLeftPostBearing =  player.kickDecider.myLeftPostBearing
-    myRightPostBearing = player.kickDecider.myRightPostBearing
-    oppLeftPostBearing = player.kickDecider.oppLeftPostBearing
-    oppRightPostBearing = player.kickDecider.oppRightPostBearing
-
     player.printf(player.kickDecider)
 
     if player.penaltyKicking: